CRS-4535: Cannot communicate with Cluster Ready Services

Two nodes 12.2.0.1 GI clusterware is not healthy with warning as below, databases and services are all still available for applications to connect to.

$ crsctl stat res -t
CRS-4535: Cannot communicate with Cluster Ready Services
CRS-4000: Command Status failed, or completed with errors.

$ crsctl check cluster -all
**************************************************************
racnode1:
CRS-4535: Cannot communicate with Cluster Ready Services
CRS-4529: Cluster Synchronization Services is online
CRS-4533: Event Manager is online
**************************************************************
racnode2:
CRS-4535: Cannot communicate with Cluster Ready Services
CRS-4529: Cluster Synchronization Services is online
CRS-4533: Event Manager is online
**************************************************************

crsd process is still running on both nodes:

-- on racnode1
$ ps -eaf | grep -i crsd
root 5482 1 0 Mar01 ? 00:00:00 /u01/app/12.2.0.1/grid/bin/crsd.bin reboot

-- on racnode2
$ ps -eaf | grep -i crsd
root 66210 1 0 23:39 ? 00:00:02 /u01/app/12.2.0.1/grid/bin/crsd.bin reboot

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